CN109455244B - Wall climbing robot with magnetic wheel mechanism - Google Patents
Wall climbing robot with magnetic wheel mechanism Download PDFInfo
- Publication number
- CN109455244B CN109455244B CN201811606974.9A CN201811606974A CN109455244B CN 109455244 B CN109455244 B CN 109455244B CN 201811606974 A CN201811606974 A CN 201811606974A CN 109455244 B CN109455244 B CN 109455244B
- Authority
- CN
- China
- Prior art keywords
- wheel
- supporting seat
- magnet
- climbing robot
- fastening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 32
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 7
- 238000001179 sorption measurement Methods 0.000 abstract description 7
- 239000002184 metal Substances 0.000 abstract description 5
- 229910052751 metal Inorganic materials 0.000 abstract description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wall climbing robot with a magnetic wheel mechanism, which is used for cleaning the surface of magnetic metal. The magnetic wheel mechanism comprises a magnet, a wheel body, a supporting seat and a fixing mechanism. The wheel body is rotatably arranged on the supporting seat, the magnet is arranged on the supporting seat through the fixing mechanism, and the fixing mechanism can adjust the distance between the magnet and the supporting seat, so that the adsorption force of the wall climbing robot on different magnetic metal wall surfaces can be adjusted, the wall climbing robot can freely move on different working wall surfaces, and the cleaning efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of wall climbing robots, and particularly relates to a wall climbing robot with a magnetic wheel mechanism.
Background
Along with the acceleration of industrial development, the metal application scope is wide, for example chemical industry storage tank, high temperature boiler, petroleum pipeline etc. its inner wall is because of the waste accumulation, needs the clearance, and the washing to metal surface is mostly by the manual work, and this kind of operational environment is abominable, and the washing degree of difficulty is high, and the construction safety is low. At present, a wall climbing robot is also used for cleaning the surfaces of magnetic metals such as iron, nickel, cobalt and alloys thereof, but the adsorption capacity of the wall climbing robot can not be adjusted according to different working walls, so that the wall climbing robot can not move due to too tight adsorption or can not fall due to weak adsorption in the operation process.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a wall climbing robot with a magnetic wheel mechanism having an adjustable adsorption capability, so as to solve the problem of coping with different working environments.
One aspect of the present invention provides a magnetic wheel mechanism. The magnetic wheel mechanism comprises a magnet, a wheel body, a supporting seat and a fixing mechanism. The wheel body is rotatably arranged on the supporting seat relative to the supporting seat, the magnet is arranged on the supporting seat through the fixing mechanism, and the fixing mechanism can adjust the distance between the magnet and the supporting seat.
Another aspect of the invention provides a wall climbing robot having the magnetic wheel mechanism.
According to the wall climbing robot with the magnetic wheel mechanism, the fixing mechanism is adjusted to drive the magnet to move up and down relative to the supporting seat, so that the distance between the magnet and the working wall surface is changed, the adsorption force of the wall climbing robot for different working wall surfaces is adjusted, the wall climbing robot can move freely on different working wall surfaces, and the cleaning efficiency is improved.
Drawings
Fig. 1 is a schematic diagram of an overall structure of a wall climbing robot according to an embodiment of the present invention.
Fig. 2 is a schematic side view of the wall climbing robot.
Fig. 3 is a schematic view of a universal wheel structure of the wall climbing robot.
Fig. 4 is a schematic view of a part of the structure of the universal wheel of the wall climbing robot.
Fig. 5 is a schematic view of a partial sectional structure of the wall climbing robot.
Fig. 6 is a schematic diagram of a driving wheel module structure of the wall climbing robot.
Fig. 7 is a schematic cross-sectional structure of a driving wheel module of the wall climbing robot.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions according to the embodiments of the present invention will be clearly described in the following with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, a wall climbing robot 900 according to an embodiment of the present invention includes a universal wheel 910, two sets of driving wheel modules 920, a motor 930, a control box 940, a speed reducer 950, a frame 960, a pipe clamp 970, a connecting rod 980 and a cleaning nozzle 990. One end of the motor 930 is connected with one end of the frame 960 to the input end and the output end of the speed reducer 950 respectively, the other end of the motor 930 is connected with the control box 940, and the other end of the frame 960 is connected with the universal wheel 910. Two sets of drive wheel modules 920 are symmetrically mounted on both sides of the motor 930. A pipe clamp 970 is installed above the speed reducer 950, a connecting rod 980 is adjustably installed in the middle of the pipe clamp 970, and one end of the connecting rod 980 is connected with a cleaning nozzle 990 to clean the working wall surface.
As shown in fig. 3 and 4, the universal wheel 910 includes the first magnetic wheel mechanism 100 and the first mounting mechanism 200. The first mounting mechanism 200 includes a mounting flange 210, a wheel frame 220, an axle screw 230, an axle nut 240, and a spindle 250. The mounting flange 210 is rotatably mounted on the top of the wheel frame 220 through a rotation shaft 250, the first magnetic wheel mechanism 100 is rotatably mounted on the inside of the base of the wheel frame 220 through an axle screw 230, and both ends of the axle screw 230 are fastened using axle nuts 240. The first magnetic wheel mechanism 100 includes two first wheel bodies 110, a first fixing mechanism 120, a first supporting seat 130 and a first magnet 140. The first magnet 140 is fixedly connected to the first support 130 through the first fixing mechanism 120. The two first wheels 110 are rotatably disposed at two sides of the first support 130. The first support 130 includes a support plate 131 parallel to the first magnet 140 and two connection plates 132 vertically connected to the support plate 131.
The fixing mechanism 120 includes a fastening assembly 121 and an adjusting assembly 122. The fastening assembly 121 fixedly connects the first magnet 140 to the first support base 130, and the adjusting assembly 122 is used for adjusting the distance between the first magnet 140 and the support plate 131 of the first support base 130.
The fastening assembly 121 includes a fastening screw 1211 and a fastening nut 1212. One end of the fastening screw 1211 is fixedly connected with the magnet 140, and the other end sequentially passes through the supporting plate 131 of the first supporting seat 130 and the adjusting assembly 122, and is further fixedly connected with the fastening nut 1212.
The adjustment assembly 122 includes an active adjustment module 1221, an elastic element 1222, and a return spring 1223. The elastic element 1222 is sleeved on the fastening screw 1211 and disposed between the first magnet 140 and the support plate 131 of the first support seat 130. The active adjusting module 1221 is sleeved on the fastening screw 1211 and is located between the support plate 131 of the first support seat 130 and the fastening nut 1212. A return spring 1223 is disposed within the active adjustment module 1221. In this embodiment, the elastic elements 1222 are springs, and in other embodiments, other elastic materials, such as rubber rings, elastic sheets, etc., are also possible.
As shown in fig. 5, the active adjustment module 1221 includes a top block 1221a, a tight top bevel block 1221b, an adjustment screw 1221c, a first overlapping bevel 1221d of the top block 1221a, and a second overlapping bevel 1221e of the tight top bevel block 1221 b. The top block 1221a and the tightening screw 1221b are axially stacked, and the first overlapping inclined surface 1221d of the top block 1221a and the second overlapping inclined surface 1221e of the tightening screw 1221b abut against each other. The adjusting screw 1221c passes through the tightening inclined block 1221b in the parallel direction of the supporting seat 130, and is screw-coupled with the top block 1221 a. Wherein the top block 1221a is fixedly connected by the fastening screw 1211, and the top oblique block 1221b can be tightly attached to the first supporting seat 130 for moving along with the adjustment of the adjusting screw 1221 c. The top block 1221a and the tight top oblique block 1221b have hollow portions therein, and the hollow portions each include a vertical surface perpendicular to the first supporting seat 130. The return spring 1223 is sleeved on the adjusting screw 1221c, and has one end disposed on the hollow vertical surface inside the top block 1221a and the other end disposed on the hollow vertical surface inside the tight top oblique block 1221 b.
In actual operation, when the user rotates the adjusting screw 1221c in one direction, the return spring 1223 is compressed, the tightening inclined block 1221b is pushed toward the top block 1221a along with the adjusting screw 1221c, the top block 1221a receives upward force and increases the distance between the top block and the first support seat 130, so as to drive the first magnet 140 to move upward, and the elastic element 1222 is compressed, while maintaining the distance between the first support seat 130 and the first magnet 140; when the user rotates the adjusting screw 1221c in the other direction, the return spring 1223 gradually performs a return operation, the tightening inclined block 1221b moves away from the top block, the distance between the top block 1221a and the first supporting seat 130 decreases, the elastic member 1222 returns, and the first magnet 140 moves downward by gravity and the force of the elastic member 1222.
As shown in fig. 6, the drive wheel module 920 includes the second magnetic wheel mechanism 300, the driven wheel 400, the timing belt 500, and the second mounting mechanism 600. The second magnetic wheel mechanism 300 is mounted within the drive wheel module 920 by a second mounting mechanism 600. Wherein, the second magnetic wheel mechanism 300 and a part of the components of the second mounting mechanism 600 form the driving wheel 700 of the driving wheel module 920. The timing belt 500 is respectively sleeved on the driving wheel 700 and the driven wheel 400 to realize a motion transmission function. When the driving wheel 700 is driven to rotate, the synchronous belt 500 is driven to move, so that the driven wheel 400 is driven to rotate, and the outer surface of the synchronous belt 500 contacts the working wall, so that larger wall climbing friction force is realized, and the working wall with different flatness can be climbed.
As shown in fig. 6 and 7, the second mounting mechanism 600 includes a fixing member 610, a protective cover 620, a driving wheel frame 630, a tensioning mechanism 640, and a supporting wheel 650. The protective cover 620 is fixedly connected to both sides of the second magnetic wheel mechanism 300 through the fixing member 610. The driving wheel frame 630 is fixedly connected with the driving wheel 700 and the driven wheel 400 at both ends thereof, and the tensioning mechanism 640 is provided on the driving wheel frame 630. A supporting wheel 650 is installed in the driving wheel 700 for supporting and driving the timing belt 500.
The second magnetic wheel mechanism 300 is substantially identical in structure, function, and manner of installation to the first magnetic wheel mechanism 100. The second magnetic wheel mechanism 300 includes two second wheel bodies 310, a second supporting seat 320, a second magnet 330 and a second fixing mechanism 340. The second magnet 330 is fixedly connected to the second supporting seat 320 through a second fixing mechanism 340, and the two second wheel bodies 310 are rotatably disposed on two sides of the second supporting seat 320 relative to the second supporting seat 320.
According to the wall climbing robot with the magnetic wheel mechanism, the fixing mechanism is adjusted to drive the magnet to move up and down relative to the supporting seat, so that the distance between the magnet and the working wall surface is changed, the adsorption force of the wall climbing robot on different working wall surfaces is adjusted, the wall climbing robot can move freely on different working wall surfaces, and the cleaning efficiency is improved. The wall climbing robot further adopts the jacking block, the tightly jacking oblique block and the adjusting screw rod to connect the fixed magnet, and adjusts the relative movement of the tightly jacking oblique block and the jacking block through the adjusting screw rod so as to adjust the distance between the magnet and the supporting seat, thereby providing a more ingenious adjusting mechanism design.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The magnetic wheel mechanism is characterized by comprising a magnet, a wheel body, a supporting seat and a fixing mechanism, wherein the wheel body is rotatably arranged on the supporting seat, the magnet is arranged on the supporting seat through the fixing mechanism, and the fixing mechanism can adjust the distance between the magnet and the supporting seat;
the support seat comprises a support plate parallel to the magnet and two connecting plates vertically connected with the support plate;
the fixing mechanism comprises a fastening component and an adjusting component, the fastening component is used for fixedly connecting the magnet to the supporting seat, and the adjusting component is used for adjusting the distance between the magnet and the supporting seat;
the fastening assembly comprises a fastening screw rod and a fastening nut, one end of the fastening screw rod is fixedly connected with the magnet, and the other end of the fastening screw rod sequentially penetrates through the supporting seat and the adjusting assembly to be further fixedly connected with the fastening nut;
the adjusting assembly comprises an elastic element and an active adjusting module, the elastic element is sleeved on the fastening screw rod and is positioned between the magnet and the supporting seat, and the active adjusting module is sleeved on the fastening screw rod and is positioned between the supporting seat and the fastening nut;
the active adjusting module comprises a top block, a tight top oblique block and an adjusting screw rod, wherein the top block and the tight top oblique block are axially overlapped along the fastening screw rod, a first overlapped inclined plane of the top block and a second overlapped inclined plane of the tight top oblique block are mutually abutted together, and the adjusting screw rod penetrates through the tight top oblique block along the parallel direction of the supporting seat and is in threaded connection with the top block.
2. The magnetic wheel mechanism of claim 1, wherein the adjustment assembly further comprises a return spring that is sleeved on the adjustment screw and is located between the top block and the tight top bevel block.
3. A wall climbing robot comprising the magnetic wheel mechanism of claim 1 or 2.
4. The wall climbing robot according to claim 3, comprising a universal wheel, two groups of driving wheel modules, a motor, a control box, a speed reducer and a frame, wherein one end of the motor and one end of the frame are respectively connected with an input end and an output end of the speed reducer, the other end of the motor is connected with the control box, the other end of the frame is connected with the universal wheel, and the two groups of driving wheel modules are symmetrically arranged on two sides of the motor.
5. The wall climbing robot according to claim 4, wherein the driving wheel module comprises a driving wheel, a driven wheel and a synchronous belt sleeved on the driving wheel and the driven wheel, the driving wheel comprises a protection cover, a fixing piece and the magnetic wheel mechanism, and the protection cover is fixedly connected to two sides of the magnetic wheel mechanism through the fixing piece.
6. The wall climbing robot according to claim 4, wherein the universal wheel includes a mounting flange rotatably mounted on the wheel frame through the rotating shaft, a wheel axle screw, a rotating shaft, and the magnetic wheel mechanism rotatably mounted on an inner side of the wheel frame base through the wheel axle screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811606974.9A CN109455244B (en) | 2018-12-27 | 2018-12-27 | Wall climbing robot with magnetic wheel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811606974.9A CN109455244B (en) | 2018-12-27 | 2018-12-27 | Wall climbing robot with magnetic wheel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109455244A CN109455244A (en) | 2019-03-12 |
| CN109455244B true CN109455244B (en) | 2023-06-27 |
Family
ID=65615104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811606974.9A Active CN109455244B (en) | 2018-12-27 | 2018-12-27 | Wall climbing robot with magnetic wheel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109455244B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927807A (en) * | 2019-04-24 | 2019-06-25 | 重庆科技学院 | A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface |
| CN115027589A (en) * | 2022-06-22 | 2022-09-09 | 江苏镌极特种设备有限公司 | Wall-climbing mobile robot capable of actively adjusting magnetic adsorption force |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673671A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Composite magnetic adsorption visual detection climbing robot |
| CN205800646U (en) * | 2016-07-25 | 2016-12-14 | 厦门团队机器人科技有限公司 | A kind of Novel magnetic adsorption type climbs wall wheel and climbing robot |
| CN106314032A (en) * | 2016-09-30 | 2017-01-11 | 宁波介量机器人技术有限公司 | Linear reversing follower wheel |
| CN107628139A (en) * | 2017-08-22 | 2018-01-26 | 浙江大学 | Magnetically adsorbed wall-climbing wheel |
| CN108454722A (en) * | 2018-03-07 | 2018-08-28 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of permanent magnetism |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2412815A1 (en) * | 2002-11-27 | 2004-05-27 | Martin Deschambault | Mobile and modular robot platform with several means of locomotion for making advanced movements in three dimensions |
| US10166672B1 (en) * | 2017-06-21 | 2019-01-01 | Deep Trekker Inc. | Magnetic robot crawler |
-
2018
- 2018-12-27 CN CN201811606974.9A patent/CN109455244B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673671A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Composite magnetic adsorption visual detection climbing robot |
| CN205800646U (en) * | 2016-07-25 | 2016-12-14 | 厦门团队机器人科技有限公司 | A kind of Novel magnetic adsorption type climbs wall wheel and climbing robot |
| CN106314032A (en) * | 2016-09-30 | 2017-01-11 | 宁波介量机器人技术有限公司 | Linear reversing follower wheel |
| CN107628139A (en) * | 2017-08-22 | 2018-01-26 | 浙江大学 | Magnetically adsorbed wall-climbing wheel |
| CN108454722A (en) * | 2018-03-07 | 2018-08-28 | 深圳市行知行机器人技术有限公司 | The wheeled climbing robot of permanent magnetism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109455244A (en) | 2019-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109455244B (en) | Wall climbing robot with magnetic wheel mechanism | |
| KR101205364B1 (en) | Industrial manipulators having attachable and detachable 4-bar-linkage-typed mechanical driving module | |
| CN102581606B (en) | Mounting and dismantling device for dampers of high-voltage transmission lines | |
| US10913147B2 (en) | Horizontal articulated robot and reverse installation method thereof | |
| KR20110061026A (en) | 3-DOF Parallel Mechanism Platform with Singular Point Change | |
| CN206255104U (en) | Climb wall milling robot | |
| KR20110123012A (en) | Gravity compensation mechanism and method using bevel gear and robot arm using same | |
| CN110587586B (en) | Six-axis mechanical arm | |
| CN209351491U (en) | A kind of magnet-wheel mechanism and the climbing robot with the mechanism | |
| JP5407837B2 (en) | Active dynamic vibration absorber | |
| CN108167394B (en) | A Rotating Base and Cylindrical Coordinate System Robot | |
| JPH05277806A (en) | Damping mechanism of main spindle device | |
| CN110316339B (en) | Underwater magnetic attraction suspension crawler moving system | |
| CN216916456U (en) | Case packer with grab bag adjusting device | |
| CN202894633U (en) | Multi-gun fine adjustment mechanism | |
| CN109655292A (en) | A kind of vehicle shock absorber durability test apparatus | |
| JP2011144895A (en) | Actuator | |
| CN212445209U (en) | Fully enclosed robot rail | |
| CN204748645U (en) | A Two-way Rotary Joint Combination Mechanism | |
| CN214699488U (en) | Pipeline fixing device for petroleum machinery | |
| CN210790973U (en) | Six arms | |
| CN209062458U (en) | A double-head rotary switch | |
| CN210081727U (en) | Additional shaft guide rail structure of general industrial robot | |
| CN101769288A (en) | Wear-resisting shock attenuation thrust device | |
| CN219215088U (en) | An industrial material handling robot with good shock absorption effect |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |